grl::HandEyeCalibrationVrepPlugin Class Reference

#include <HandEyeCalibrationVrepPlugin.hpp>

Inheritance diagram for grl::HandEyeCalibrationVrepPlugin:

Collaboration diagram for grl::HandEyeCalibrationVrepPlugin:

Public Types
enum	ParamIndex { RobotBaseName, RobotTipName, OpticalTrackerBaseName, OpticalTrackerDetectedObjectName }
typedef std::tuple< std::string, std::string, std::string, std::string >	Params

Public Member Functions
void	addFrame ()
void	applyEstimate ()
	Will apply the stored estimate to the v-rep simulation value. More...
void	construct ()
void	estimateHandEyeScrew ()
	run solver to estimate the unknown transform and set the simulation to the estimated value More...
Eigen::Affine3d	getEstimate ()
	HandEyeCalibrationVrepPlugin (Params params=defaultParams())
void	restoreSensorPosition ()
	Correct modified transform for measured optical tracker data. More...

Static Public Member Functions
static const Params	defaultParams ()

Static Public Attributes
static const bool	debug = false

Detailed Description

Creates a complete vrep plugin object usage:

auto handEyeCalib = std::make_shared<grl::HandEyeCalibrationVrepPlugin>();
handEyeCalib->construct();
// move objects to new position

Todo:

this implementation is a bit hacky, redesign it

separate out grl specific code from general kuka control code

Template on robot driver and create a driver that just reads/writes to/from the simulation, then pass the two templates so the simulation and the real driver can be selected.

Definition at line 47 of file HandEyeCalibrationVrepPlugin.hpp.

Member Typedef Documentation

Params

typedef std::tuple< std::string, std::string, std::string, std::string > grl::HandEyeCalibrationVrepPlugin::Params

Todo:

allow default params

Definition at line 65 of file HandEyeCalibrationVrepPlugin.hpp.

Member Enumeration Documentation

ParamIndex

enum grl::HandEyeCalibrationVrepPlugin::ParamIndex

Enumerator
RobotBaseName	V-REP handle string for the base of the first known transform, often a robot base.
RobotTipName	V-REP handle string for the tip of the first known transform, often a robot tip.
OpticalTrackerBaseName	V-REP handle string for the tip of the first known transform, often a robot tip.
OpticalTrackerDetectedObjectName

Definition at line 52 of file HandEyeCalibrationVrepPlugin.hpp.

Constructor & Destructor Documentation

HandEyeCalibrationVrepPlugin()

grl::HandEyeCalibrationVrepPlugin::HandEyeCalibrationVrepPlugin ( Params  params = defaultParams() )

inline

Todo:

allow KukaFRIThreadSeparator parameters to be updated

Todo:

figure out how to re-enable when .so isn't loaded

Definition at line 78 of file HandEyeCalibrationVrepPlugin.hpp.

Member Function Documentation

addFrame()

void grl::HandEyeCalibrationVrepPlugin::addFrame ( )

inline

Definition at line 99 of file HandEyeCalibrationVrepPlugin.hpp.

applyEstimate()

void grl::HandEyeCalibrationVrepPlugin::applyEstimate ( )

inline

Will apply the stored estimate to the v-rep simulation value.

A default transform is saved when construct() was called so if no estimate has been found that will be used.

Definition at line 189 of file HandEyeCalibrationVrepPlugin.hpp.

construct()

void grl::HandEyeCalibrationVrepPlugin::construct ( )

inline

construct() function completes initialization of the plugin

Todo:

move this into the actual constructor, but need to correctly handle or attach vrep shared libraries for unit tests.

Definition at line 91 of file HandEyeCalibrationVrepPlugin.hpp.

defaultParams()

static const Params grl::HandEyeCalibrationVrepPlugin::defaultParams ( )

inlinestatic

Definition at line 68 of file HandEyeCalibrationVrepPlugin.hpp.

estimateHandEyeScrew()

void grl::HandEyeCalibrationVrepPlugin::estimateHandEyeScrew ( )

inline

run solver to estimate the unknown transform and set the simulation to the estimated value

after calling addFrame a number of times in different positions and orientations

Todo:

probably want to run at least part of this in a separate thread.

evaluate if applyEstimate should not be called by this

Definition at line 144 of file HandEyeCalibrationVrepPlugin.hpp.

getEstimate()

Eigen::Affine3d grl::HandEyeCalibrationVrepPlugin::getEstimate ( )

inline

Definition at line 195 of file HandEyeCalibrationVrepPlugin.hpp.

restoreSensorPosition()

void grl::HandEyeCalibrationVrepPlugin::restoreSensorPosition ( )

inline

Correct modified transform for measured optical tracker data.

If real time transform measurements are happening applyEstimate will move the measured object relative to the sensor and this puts the transform measurement back so the object appears in its real position. However, if running in simulation only the sensor will be in the correct position, so you don't want to call this.

Definition at line 206 of file HandEyeCalibrationVrepPlugin.hpp.

Member Data Documentation

debug

const bool grl::HandEyeCalibrationVrepPlugin::debug = false

static

Definition at line 50 of file HandEyeCalibrationVrepPlugin.hpp.

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The documentation for this class was generated from the following file:

• HandEyeCalibrationVrepPlugin.hpp